Tracking-error model-based predictive control for mobile robots in real time

In this paper, a model-predictive trajectory-tracking control applied to a mobile robot is presented. Linearized tracking-error dynamics is used to predict future system behavior and a control law is derived from a quadratic cost function penalizing the system tracking error and the control effort. Experimental results on a real mobile robot are presented and a comparison of the control obtained with that of a time-varying state-feedback controller is given. The proposed controller includes velocity and acceleration constraints to prevent the mobile robot from slipping and a Smith predictor is used to compensate for the vision-system dead-time. Some ideas for future work are also discussed.     

Properties of flash hydrated and agglomerated particles of CFB fly ashes

The fly ash (high carbon content and high unreacted CaO) recirculation in CFB is a typical method to improve the carbon burnout efficiency and the calcium utilization ratio. While the effectiveness of it is limited by the resident time and the reactivity of the re-injected fly ash particles. In the present research, an improved fly ash recirculation method is suggested in which the CFB fly ash is mixed with water or the mixtures of additives (such as waste water of paper mill, cement, sodium silicate, and carbide slag) and water in a blender. Then, this mixture is re-injected into the combustion chamber of CFB by a sludge pump. Because the temperature in CFB is higher, the fly ash was flash hydrated. At the same time, it was dehydrated and agglomerated. The size of agglomerates is bigger than that of original particle and their attrition rate is lower. Therefore the resident time of agglomerates is much longer than that of fine fly ash particles. The absorption of SO₂ is higher than that of original particles, too. This results in high carbon burnout efficiency. The hydrated lime also improves the calcium utilization.     

Experimental investigation of the heat and mass transfer between air and liquid desiccant in a cross-flow regenerator

The regenerator is one of the essential components in a liquid desiccant air-conditioning system, whose efficiency directly influences the system performance. A performance test-bed for a cross-flow regenerator was established in the present analysis. Celdek structured packings were used in the regenerator and LiBr aqueous solution was used as the liquid desiccant. Moisture removal rate and regenerator effectiveness are adopted to describe the mass transfer performance of the regenerator. Effects of air and desiccant inlet parameters on the regenerator performance are experimentally investigated, and performance comparisons between present cross-flow regenerator and other counter-flow configurations available in the literature are also carried out. The comparison results show that the impacts of air and desiccant inlet parameters show similar tendency with those of counter-flow regenerators. A dimensionless mass transfer correlation is proposed, which gives results in good agreement with the experimental findings.     

提高E^2PROM中NMOS管源漏穿通电压的实验研究

为了提高Ｅ＾２ＰＲＯＭ中Ｎ管源漏穿通电压，用实验的方法对制造工艺进行了研究。结果表明，高能量注入是提高ＶＰＴ的有效手段，但受到ｐｎ结击穿的限制，只适用于低区短沟Ｎ管；ＤＤＤ工艺大幅度高ＶＰＴ，但ｐｎ结击穿电压低于２０Ｖ，不能应用于高压ＭＯＳ管；采用适量的防穿通注入和适当增大沟道长度为最理想的工艺途径。     

A steel surface defect inspection approach towards smart industrial monitoring

Journal of Intelligent Manufacturing - With the advance in Industry 4.0, smart industrial monitoring has been proposed to timely discover faults and defects in industrial processes. Steel is widely...     

Relationship of threshold diameter and Darcean permeability in unconsolidated porous structures

Experiment was conducted on the threshold pressure for atmospheric air through unconsolidated narrow size distributed mini sphere and sand particles at low flow rates. The threshold diameter calculated from measured threshold pressure showed that it does not follow the traditional similarity theory. This is consistent with our experiment on accurate permeability measurement, and can be explained as a result of gas slip flow within such micro pore structure. Our current work tend to find the method to predict the permeability-threshold pressure relationship for unconsolidated porous structures.